Vehicle trajectory challenge in predictive active steering rollover prevention
| Autor: | Mohammad Durali, Mohammad Ghazali, Hassan Salarieh |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Adaptive control business.industry 020209 energy Control engineering 02 engineering and technology Rollover Tracking (particle physics) Active steering Model predictive control 020901 industrial engineering & automation Control theory Automotive Engineering Path (graph theory) 0202 electrical engineering electronic engineering information engineering Trajectory business |
| Zdroj: | International Journal of Automotive Technology. 18:511-521 |
| ISSN: | 1976-3832 1229-9138 |
| DOI: | 10.1007/s12239-017-0051-3 |
| Popis: | High center of mass vehicles are likely to rollover in extreme maneuvers. Available works present control strategies to prevent rollover. In these works, however, other important parameters such as path trajectory tracking are not a main concern. In this paper conflicts between rollover prevention and trajectory tracking is investigated. Model predictive control (MPC) is adopted to predict and avoid rollover while tracking desired trajectory. For this regard a model based future error estimation is introduced. The control framework predicts both rollover and trajectory error simultaneously. It avoids rollover while tries to track the trajectory. Simulation results for two controllers with and without trajectory tracking are presented. The results indicate that the controllers effectively limit rollover as a hard constraint while the trajectory tracking controller also minimizes and recovers the path error. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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